• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.1
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• pp.153-160
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• 2010

It is necessary to determine accurate 3-dimensional coordinates of the building corner points that could be control or check points in order to verify the accuracy of 3D digital maps in the near future. The usual process of obtaining the coordinates of the building corner points is to set up the ground control points with a GPS and then to practice terrestrial survey such as distance or angle measurements. However, since an error in the ground control points can be propagated through the terrestrial survey into the final coordinates of the buildings, accurately should be considered as much as possible. The actual effect of the GPS-derived ground control point error on the estimates of the unknowns through the terrestrial survey is mathematically analyzed, and the simulation data is tested numerically. The error of the ground control points is tested in the cases of 1-4 cm for the horizontal components and 2-8 cm for the vertical component. The vertical component error is assigned twice the horizontal ones because of the characteristics of the GPS survey. The distance measurement is assumed for convenience and the precision of the estimated coordinates of the building corner points is almost linearly increased according to the errors of the ground control points. In addition, the final estimates themselves can vary by the simulated random errors depending on the precision of the survey instrument, but the precision of the estimates is almost independent of survey accuracy.

• Korean Journal of Remote Sensing
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• v.33 no.2
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• pp.135-147
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• 2017

We, for the first time, estimated daily and monthly surface nitrogen dioxide ($NO_2$) volume mixing ratio (VMR) using three regression models with $NO_2$ tropospheric vertical column density (OMIT-rop $NO_2$ VCD) data obtained from Ozone Monitoring Instrument (OMI) in Seoul in South Korea at OMI overpass time (13:45 local time). First linear regression model (M1) is a linear regression equation between OMI-Trop $NO_2$ VCD and in situ $NO_2$ VMR, whereas second linear regression model (M2) incorporates boundary layer height (BLH), temperature, and pressure obtained from Atmospheric Infrared Sounder (AIRS) and OMI-Trop $NO_2$ VCD. Last models (M3M & M3D) are a multiple linear regression equations which include OMI-Trop $NO_2$ VCD, BLH and various meteorological data. In this study, we determined three types of regression models for the training period between 2009 and 2011, and the performance of those regression models was evaluated via comparison with the surface $NO_2$ VMR data obtained from in situ measurements (in situ $NO_2$ VMR) in 2012. The monthly mean surface $NO_2$ VMRs estimated by M3M showed good agreements with those of in situ measurements(avg. R = 0.77). In terms of the daily (13:45LT) $NO_2$ estimation, the highest correlations were found between the daily surface $NO_2$ VMRs estimated by M3D and in-situ $NO_2$ VMRs (avg. R = 0.55). The estimated surface $NO_2$ VMRs by three modelstend to be underestimated. We also discussed the performance of these empirical modelsfor surface $NO_2$ VMR estimation with respect to otherstatistical data such asroot mean square error (RMSE), mean bias, mean absolute error (MAE), and percent difference. This present study shows a possibility of estimating surface $NO_2$ VMR using the satellite measurement.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.473-480
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• 2013

This paper describes the design of a rectangular-type four-finger rehabilitation robot for flexibility rehabilitation of stroke patients' fingers and other patient's paralyzed fingers. The four-finger rehabilitation robot is composed of a body and each finger rehabilitation robot instrument. The four-finger rehabilitation robot could exercise four fingers (forefinger, middle finger ring finger and little finger) of patient for their rehabilitation. The four-finger rehabilitation robot instruments move according to the trace which spread out the patient's fingers and then turn them inward for the fingers' flexibility, while at the same time performing the force control with the reference forces for fingers' safety, simultaneously. A control characteristic test of the developed rectangular-type four-finger rehabilitation robot was carried out, and the results confirmed that the robot could be used for the flexibility rehabilitation exercise for the fingers of normal person and patients.

• Journal of Korean Physical Therapy Science
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• v.24 no.3
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• pp.30-38
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• 2017

Purpose: The purpose of this study was to find out changes in muscle activity and body heat of tibialis anterior and gastrocnemius muscles according to the area touching the ground through the areas of different heel heights using electromyography and infrared thermography. Method: This study was carried out for 15 healthy women. After walking for 30 minutes, the body temperature was measured in a standing state in front of the measuring instrument, and the distance between the treadmill and the thermography was about 50M, which may cause an error in measurement. Result: The results of the comparison of changes in muscle activity and body heat showed significant differences all in tibialis anterior, medial gastrocnemius muscle an lateral gastrocnemius muscle. The changes in body heat of tibialis anterior and medial gastrocnemius muscles according to the shape of the heel were lower as the area of the heel touching the ground was wider. Conclusion: This study was conducted to find out changes in muscle activity and body heat of tibialis anterior and gastrocnemius muscle depending on the area touching the ground through different heel areas.

• Food Science and Preservation
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• v.6 no.1
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• pp.29-36
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• 1999

Using Fuji apple fruits cultivated in Kyungpook prefecture, the calibration model for firmness evaluation of fruits by near infrared(NIR) reflectance spectroscopy was developed, and the various influence factors such as instrument variety, measuring method, sample group, apple peel and selection of firmness point were investigated. Spectra of sample were recorded in wavelength range of 1100∼2500nm using NIR spectrometer (InfraAlyzer 500), and data were analyzed by stepwise multiple linear regression of IDAS program. The accuracy of calibration model was the highest when using sample group with wide range, and the firmness mean values obtained in graph by texture analyser(TA) were used as standard data. Chemometrics models were developed using a calibration set of 324 samples and an independent validation set of 216 samples to evaluate the predictive ability of the models. The correlation coefficients and standard error of prediction were 0.84 and 0.094kg, respectively. Using developed calibration model, it was possible to monitor the firmness change of fruits during storage frequently. Time, which was reached to firmness high value in graph by TA, is possible to use as new parameter for freshness of fruit surface during storage.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.1
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• pp.107-111
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• 2013

The gyroscopes have been used as a suitable inertial instrument for the navigation guidance and attitude controls. The accuracy as very sensitive sensor is limited by the lock-in region (dead band) due to the frequency coupling between two counter-propagating waves at low rotation rates. This frequency coupling gives no phase difference, and an angular increment is not detected. This problem can be overcome by mechanically dithering the gyroscope. This paper presents the design method of mechanical dither by the theoretical considerations and the verification of the theoretical equations through FEM applications. As a result, comparing to the past result, the maximum prediction error of resonant frequency was within 3 percent and peak dither rate was within 5 percent. It was found that the theoretical equations can be feasible for the mechanical performance of dither.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.353-362
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• 1999

This paper presents a shape reconstruction method for automatic inspection of the solder joints on PCBs using X-ray. Shape reconstruction from X-ray radiographic image has been very important since X-ray equipment was used for improving the reliability of inspection result. For this purpose there have been lots of previous works using tomography, which reconstructs the correct shape, laminography or tomosynthesis, which are very fast algorithm. Latter two methods show outstanding performance in cross-sectional image reconstruction of lead type component, but they are also known to show some fatal limitations to some kinds of components such as BGA, because of shadow effect. Although conventional tomography does not have any shadow effect, the shape of PCB prohibits it from being applied to shape reconstruction of solder joints on PCB. This paper shows that tomography using Iterative Reconstruction Technique(IRT) can be applied to this difficult problem without any limitations. This makes conventional radiographic instrument used for shape reconstruction without shadow effect. This means that the new method makes cost down and shadow-free shape reconstruction. To verify the effectiveness of IRT, we develop three dimensional model of BGA solder ball, make projection model to obtain X-ray projection data. and perform a simulation study of shape reconstruction. To compare the performance of IRT with that of conventional laminography or tomosynthesis, reconstruction data are reorganized and error analysis between the original model are also performed.

• Journal of The Institute of Information and Telecommunication Facilities Engineering
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• v.5 no.1
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• pp.25-36
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• 2006

This paper discusses the implementation and performance evaluation of a DSP-based digital beamformer using the Texas Instrument TMSC6711 DSP processor for smart antenna applications. Two adaptive beamforming algorithms which served as the brain for the beamformer, the Normalized Least-Mean-Square (NLMS) and the Constant Modulus Algorithms (CMA) were embedded into the processor and evaluated. Result shows that the NLMS-based digital beamformer outperforms the CMA-based digital beamformer: 1)For NLMS algorithm, the antenna steers to the direction of the desired user even at low iteration value and the suppression level towards the interferer increases as the number of iteration increase. For CMA algorithm, the beam radiation pattern slowly steers to the desired user as the number of iteration increased, but at arate slower than NLMS algorithm and the sidelobe level is shown to increases as the number of iteration increase. 2) The NLMS algorithm has faster convergence than CMA algorithm and the error convergence for CMA algorithm sometimes is subject to misadjustment.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.11
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• pp.37-45
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• 2010

Stroke patients can't use their hands because of the paralysis of their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the spherical object measuring system which can measure the force of their fingers should be developed. In this paper, the finger-force measuring system with a six-axis force/moment sensor which can measure the spherical-object grasping force is developed. The six-axis force/moment sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (digital signal processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the average force of men was about 120N.